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<FONT color="green">001</FONT>    package maze.ai;<a name="line.1"></a>
<FONT color="green">002</FONT>    <a name="line.2"></a>
<FONT color="green">003</FONT>    import java.util.ArrayList;<a name="line.3"></a>
<FONT color="green">004</FONT>    import java.util.List;<a name="line.4"></a>
<FONT color="green">005</FONT>    <a name="line.5"></a>
<FONT color="green">006</FONT>    import maze.model.RobotModel;<a name="line.6"></a>
<FONT color="green">007</FONT>    <a name="line.7"></a>
<FONT color="green">008</FONT>    <a name="line.8"></a>
<FONT color="green">009</FONT>    public class RightWallFollower extends RobotBase<a name="line.9"></a>
<FONT color="green">010</FONT>    {<a name="line.10"></a>
<FONT color="green">011</FONT>       private List&lt;RobotStep&gt; moveQueue = new ArrayList&lt;RobotStep&gt;();<a name="line.11"></a>
<FONT color="green">012</FONT>    <a name="line.12"></a>
<FONT color="green">013</FONT>       @Override<a name="line.13"></a>
<FONT color="green">014</FONT>       public String toString()<a name="line.14"></a>
<FONT color="green">015</FONT>       {<a name="line.15"></a>
<FONT color="green">016</FONT>          return "Right Wall Follower";<a name="line.16"></a>
<FONT color="green">017</FONT>       }<a name="line.17"></a>
<FONT color="green">018</FONT>    <a name="line.18"></a>
<FONT color="green">019</FONT>       /**<a name="line.19"></a>
<FONT color="green">020</FONT>        * Sets the instance of the robot model to use.<a name="line.20"></a>
<FONT color="green">021</FONT>        */<a name="line.21"></a>
<FONT color="green">022</FONT>       public void setRobotLocation(RobotModel model)<a name="line.22"></a>
<FONT color="green">023</FONT>       {<a name="line.23"></a>
<FONT color="green">024</FONT>          this.robotLocation = model;<a name="line.24"></a>
<FONT color="green">025</FONT>       }<a name="line.25"></a>
<FONT color="green">026</FONT>    <a name="line.26"></a>
<FONT color="green">027</FONT>       /**<a name="line.27"></a>
<FONT color="green">028</FONT>        * Called to before any steps are requested of the robot. This can be<a name="line.28"></a>
<FONT color="green">029</FONT>        * overridden to do any initialization of the AI.<a name="line.29"></a>
<FONT color="green">030</FONT>        */<a name="line.30"></a>
<FONT color="green">031</FONT>       public void initialize()<a name="line.31"></a>
<FONT color="green">032</FONT>       {<a name="line.32"></a>
<FONT color="green">033</FONT>          super.initialize();<a name="line.33"></a>
<FONT color="green">034</FONT>          moveQueue.clear();<a name="line.34"></a>
<FONT color="green">035</FONT>       }<a name="line.35"></a>
<FONT color="green">036</FONT>    <a name="line.36"></a>
<FONT color="green">037</FONT>       /**<a name="line.37"></a>
<FONT color="green">038</FONT>        * This is called by the controller to get the next move that the robot AI<a name="line.38"></a>
<FONT color="green">039</FONT>        * will take.<a name="line.39"></a>
<FONT color="green">040</FONT>        */<a name="line.40"></a>
<FONT color="green">041</FONT>       public RobotStep nextStep()<a name="line.41"></a>
<FONT color="green">042</FONT>       {<a name="line.42"></a>
<FONT color="green">043</FONT>          RobotStep next;<a name="line.43"></a>
<FONT color="green">044</FONT>          if (moveQueue.isEmpty() == true)<a name="line.44"></a>
<FONT color="green">045</FONT>          {<a name="line.45"></a>
<FONT color="green">046</FONT>             if (robotLocation.isWallRight() == false)<a name="line.46"></a>
<FONT color="green">047</FONT>             {<a name="line.47"></a>
<FONT color="green">048</FONT>                next = RobotStep.RotateRight;<a name="line.48"></a>
<FONT color="green">049</FONT>                moveQueue.add(RobotStep.MoveForward);<a name="line.49"></a>
<FONT color="green">050</FONT>             }<a name="line.50"></a>
<FONT color="green">051</FONT>             else if (robotLocation.isWallFront() == false)<a name="line.51"></a>
<FONT color="green">052</FONT>             {<a name="line.52"></a>
<FONT color="green">053</FONT>                next = RobotStep.MoveForward;<a name="line.53"></a>
<FONT color="green">054</FONT>             }<a name="line.54"></a>
<FONT color="green">055</FONT>             else<a name="line.55"></a>
<FONT color="green">056</FONT>             {<a name="line.56"></a>
<FONT color="green">057</FONT>                next = RobotStep.RotateLeft;<a name="line.57"></a>
<FONT color="green">058</FONT>             }<a name="line.58"></a>
<FONT color="green">059</FONT>          }<a name="line.59"></a>
<FONT color="green">060</FONT>          else<a name="line.60"></a>
<FONT color="green">061</FONT>          {<a name="line.61"></a>
<FONT color="green">062</FONT>             next = moveQueue.get(0);<a name="line.62"></a>
<FONT color="green">063</FONT>             moveQueue.remove(0);<a name="line.63"></a>
<FONT color="green">064</FONT>          }<a name="line.64"></a>
<FONT color="green">065</FONT>          return next;<a name="line.65"></a>
<FONT color="green">066</FONT>       }<a name="line.66"></a>
<FONT color="green">067</FONT>    }<a name="line.67"></a>




























































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